How do I give a keyframed object a bit of vibration/shaking when it's at the destination point?
To add to Chris' answer, you can use a Noise modifier in the Graph Editor. Create your animation, open the Graph Editor, select the bone (or object), select the track where you want the vibration to happen, for example here the Z Rotation track, ShiftH to hide the others, and in the N panel, on the right of the Graph Editor window, create a Modifiers &gt; Modifier &gt; Noise. Now if you click on the Restrict Frame Range you can decide in what range of frames the vibration will happen. Here is what it can give:

Another solution, if you select your track, select the vertex or vertices where you want the effect to begin and press T (or header menu &gt; Key &gt; Interpolation Mode) you can create a Dynamic Effects like Bounce or Elastic (the settings are in the FCurve tab):

If these solutions are not satisfying I guess you need to do it manually...